EP2621809A4 - Appareils et procédés destinés à estimer l'angle de lacet d'un dispositif dans un système de référence gravitationnel en utilisant des mesures de capteurs de mouvement et un magnétomètre attaché au dispositif - Google Patents

Appareils et procédés destinés à estimer l'angle de lacet d'un dispositif dans un système de référence gravitationnel en utilisant des mesures de capteurs de mouvement et un magnétomètre attaché au dispositif Download PDF

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Publication number
EP2621809A4
EP2621809A4 EP11829985.8A EP11829985A EP2621809A4 EP 2621809 A4 EP2621809 A4 EP 2621809A4 EP 11829985 A EP11829985 A EP 11829985A EP 2621809 A4 EP2621809 A4 EP 2621809A4
Authority
EP
European Patent Office
Prior art keywords
estimating
apparatuses
measurements
methods
yaw angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP11829985.8A
Other languages
German (de)
English (en)
Other versions
EP2621809A2 (fr
Inventor
Hua Sheng
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hillcrest Laboratories Inc
Original Assignee
Hillcrest Laboratories Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hillcrest Laboratories Inc filed Critical Hillcrest Laboratories Inc
Publication of EP2621809A2 publication Critical patent/EP2621809A2/fr
Publication of EP2621809A4 publication Critical patent/EP2621809A4/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/38—Testing, calibrating, or compensating of compasses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/49—Control of attitude, i.e. control of roll, pitch or yaw
    • G05D1/495—Control of attitude, i.e. control of roll, pitch or yaw to ensure stability

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Measuring Magnetic Variables (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
EP11829985.8A 2010-10-01 2011-09-30 Appareils et procédés destinés à estimer l'angle de lacet d'un dispositif dans un système de référence gravitationnel en utilisant des mesures de capteurs de mouvement et un magnétomètre attaché au dispositif Withdrawn EP2621809A4 (fr)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US38886510P 2010-10-01 2010-10-01
US41457010P 2010-11-17 2010-11-17
US41458210P 2010-11-17 2010-11-17
US41456010P 2010-11-17 2010-11-17
PCT/US2011/054275 WO2012044964A2 (fr) 2010-10-01 2011-09-30 Appareils et procédés destinés à estimer l'angle de lacet d'un dispositif dans un système de référence gravitationnel en utilisant des mesures de capteurs de mouvement et un magnétomètre attaché au dispositif

Publications (2)

Publication Number Publication Date
EP2621809A2 EP2621809A2 (fr) 2013-08-07
EP2621809A4 true EP2621809A4 (fr) 2017-12-06

Family

ID=45893772

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11829985.8A Withdrawn EP2621809A4 (fr) 2010-10-01 2011-09-30 Appareils et procédés destinés à estimer l'angle de lacet d'un dispositif dans un système de référence gravitationnel en utilisant des mesures de capteurs de mouvement et un magnétomètre attaché au dispositif

Country Status (5)

Country Link
US (1) US20130185018A1 (fr)
EP (1) EP2621809A4 (fr)
KR (1) KR20130143576A (fr)
CN (1) CN103153790B (fr)
WO (1) WO2012044964A2 (fr)

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US9310193B2 (en) 2012-08-29 2016-04-12 Blackberry Limited Stabilizing orientation values of an electronic device
US8915116B2 (en) * 2013-01-23 2014-12-23 Freescale Semiconductor, Inc. Systems and method for gyroscope calibration
US9606191B2 (en) * 2013-03-15 2017-03-28 Invensense, Inc. Magnetometer using magnetic materials on accelerometer
WO2014179449A1 (fr) * 2013-05-01 2014-11-06 Hillcrest Laboratories, Inc. Procédé et dispositif pour lisser l'évolution d'une variable mappée
US9482554B2 (en) 2013-05-02 2016-11-01 Hillcrest Laboratories, Inc. Gyroscope stabilizer filter
WO2016036767A2 (fr) * 2014-09-02 2016-03-10 Flir Systems, Inc. Systèmes et procédés de référence de cap et d'attitude en rotation
US10261176B2 (en) 2013-05-15 2019-04-16 Flir Systems, Inc. Rotating attitude heading reference systems and methods
US10175043B2 (en) 2013-05-15 2019-01-08 FLIR Belgium BVBA Toroidal shape recognition for automatic compass calibration systems and methods
WO2014186636A1 (fr) 2013-05-15 2014-11-20 Flir Systems, Inc. Système d'étalonnage de compas automatique et procédé correspondant
US20150019159A1 (en) * 2013-07-15 2015-01-15 Honeywell International Inc. System and method for magnetometer calibration and compensation
EP2883272B1 (fr) * 2013-08-27 2016-06-15 CommScope Technologies LLC Détermination d'alignement pour antennes
CN103619090A (zh) * 2013-10-23 2014-03-05 深迪半导体(上海)有限公司 基于微型惯性传感器舞台灯光自动定位和追踪系统和方法
US10258256B2 (en) 2014-12-09 2019-04-16 TechMah Medical Bone reconstruction and orthopedic implants
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EP3389490B1 (fr) * 2015-12-16 2021-04-14 TechMah Medical LLC Étalonnage d'umi
US11255664B2 (en) * 2016-03-17 2022-02-22 Gipstech S.R.L. Method for estimating the direction of motion of an individual
CN106326576B (zh) * 2016-08-26 2019-07-12 北京控制工程研究所 一种任意基准系下的整星偏置角动量的偏航估计方法
CN113804191B (zh) 2016-11-17 2024-03-19 格兰菲智能科技有限公司 移动设备及求取移动设备姿态的方法
TWI608320B (zh) * 2016-12-19 2017-12-11 四零四科技股份有限公司 三維軌跡驗證裝置及其方法
US10983206B2 (en) 2017-11-07 2021-04-20 FLIR Belgium BVBA Low cost high precision GNSS systems and methods
US11280896B2 (en) 2017-06-16 2022-03-22 FLIR Belgium BVBA Doppler GNSS systems and methods
RU2653967C1 (ru) * 2017-06-20 2018-05-15 Федеральное государственное бюджетное образовательное учреждение высшего образования "Саратовский государственный технический университет имени Гагарина Ю.А." (СГТУ имени Гагарина Ю.А.) Способ автономной ориентации подвижных объектов
CN107830861A (zh) * 2017-12-07 2018-03-23 智灵飞（北京）科技有限公司 基于自适应增益互补滤波运动物体姿态测量方法及装置
US12044533B2 (en) 2018-02-28 2024-07-23 Ceva Technologies, Inc. Methods and apparatus for planar magnetometer calibration, heading determination, gyroscope assisted magnetometer amplitude calibration, magnetometer amplitude and alignment calibration, magnetometer mapping, and sensor fusion
CN109260647A (zh) * 2018-09-10 2019-01-25 郑州大学 基于多模态信号的人体跳跃指标综合评测及训练系统
US12050114B2 (en) * 2020-03-09 2024-07-30 Deere & Company Method and system for detection of roll sensor bias
EP3926298B1 (fr) * 2020-06-17 2025-02-26 ETA SA Manufacture Horlogère Suisse Instrument de navigation avec compensation d'inclinaison et méthode associée
CN112902828B (zh) * 2021-01-19 2023-09-08 陕西福音假肢有限责任公司 一种角度计算方法
CN112904884B (zh) * 2021-01-28 2023-01-24 歌尔股份有限公司 足式机器人轨迹跟踪方法、设备及可读存储介质
DE102021109700A1 (de) 2021-04-16 2022-10-20 Airbus Operations Gmbh Flugzustandsermittlungsvorrichtung und verfahren zum ermitteln eines flugzustandes eines flugzeugs
CN113281824B (zh) * 2021-05-19 2022-03-25 北京大学 一种考虑飞机非刚性以及极化电流因素的航空磁补偿方法
CN113335411A (zh) * 2021-07-15 2021-09-03 福建工程学院 核电站磁吸爬壁机器人及其控制系统和方法
US12284058B2 (en) * 2022-06-16 2025-04-22 Samsung Electronics Co., Ltd. Self-tuning fixed-point least-squares solver
CN116817896B (zh) * 2023-04-03 2024-04-16 盐城数智科技有限公司 一种基于扩展卡尔曼滤波的姿态解算方法
CN116772903B (zh) * 2023-08-16 2023-10-20 河海大学 基于迭代ekf的sins/usbl安装角估计方法
CN121208967B (zh) * 2025-11-28 2026-01-30 中震华创(深圳)技术有限公司 一种设备姿态自动矫正方法、装置及光终端烈度仪

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US20050188556A1 (en) * 2004-02-26 2005-09-01 Samsung Electronics Co., Ltd. Geomagnetic sensor for informing users whether detected azimuth angle is acceptable, and a method thereof
US20050190281A1 (en) * 2004-02-27 2005-09-01 Samsung Electronics Co., Ltd. Portable electronic device for changing menu display state according to rotating degree and method thereof
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Also Published As

Publication number Publication date
EP2621809A2 (fr) 2013-08-07
WO2012044964A3 (fr) 2012-07-26
CN103153790B (zh) 2016-06-08
WO2012044964A2 (fr) 2012-04-05
CN103153790A (zh) 2013-06-12
KR20130143576A (ko) 2013-12-31
US20130185018A1 (en) 2013-07-18

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